#ifndef MAP_VERTEX_INFO
#define MAP_VERTEX_INFO
#include <vector>
#include <map_utils.h>
//定义拓扑地图的顶点  
//                              { {可到达的顶点}, {对应的边},  Pose{x,y,id}}
std::vector<Vertex> mapVertexInfoS{  
                                // 加密后改变的初始的点
                                    { {2}, {3}, Pose(3654+dx, 800+dy, 1) }
                                    ,{ {1, 3}, {2, 4}, Pose(3654+dx, 874+dy, 2) }
                                    ,{ {2, 42}, {1, 5}, Pose(3836+dx, 1074+dy, 3) }
                                    ,{ {5}, {6}, Pose(4186+dx, 1074+dy, 4) }
                                    ,{ {6}, {7}, Pose(4386+dx, 1274+dy, 5) }
                                    ,{ {7}, {8}, Pose(4697+dx, 1581+dy, 6) }
                                    ,{ {43}, {9}, Pose(5435+dx, 2404+dy, 7) }
                                    ,{ {9}, {10}, Pose(5435+dx, 2651+dy, 8) }
                                    ,{ {44}, {11}, Pose(4752+dx, 3284+dy, 9) }
                                    ,{ {47}, {12}, Pose(3943+dx, 3274+dy, 10) }
                                    ,{ {48}, {13}, Pose(3634+dx, 3498+dy, 11) }
                                    ,{ {50, 41}, {14, 44}, Pose(3216+dx, 3640+dy, 12) }
                                    ,{ {56}, {15}, Pose(1942+dx, 3515+dy, 13) }
                                    ,{ {15}, {16}, Pose(840+dx, 3435+dy, 14) }
                                    ,{ {61}, {17}, Pose(147+dx, 2943+dy, 15) }
                                    ,{ {17}, {18}, Pose(247+dx, 840+dy, 16) }
                                    ,{ {71}, {19}, Pose(840+dx, 197+dy, 17) }
                                    ,{ {19}, {20}, Pose(1942+dx, 197+dy, 18) }
                                    ,{ {76}, {21}, Pose(2679+dx, 840+dy, 19) }
                                    ,{ {21,25}, {22,143}, Pose(2679+dx, 1074+dy, 20) }
                                    ,{ {22}, {23}, Pose(3186+dx, 1581+dy, 21) }
                                    ,{ {23, 130}, {24, 46}, Pose(3329+dx, 1581+dy, 22) }
                                    ,{ {3}, {25}, Pose(3636+dx, 1274+dy, 23) }
                                    ,{ {25, 34}, {26, 47}, Pose(3186+dx, 1897+dy, 24) }
                                    ,{ {77}, {27}, Pose(2570+dx, 2404+dy, 25) }
                                    ,{ {27, 13}, {28, 48}, Pose(2540+dx, 2877+dy, 26) }
                                    ,{ {79}, {29}, Pose(3186+dx, 3384+dy, 27) }
                                    ,{ {81}, {30}, Pose(3620+dx, 3340+dy, 28) }
                                    ,{ {82}, {31}, Pose(3930+dx, 3250+dy, 29) }
                                    ,{ {31}, {32}, Pose(4752+dx, 3250+dy, 30) }
                                    ,{ {86}, {33}, Pose(5300+dx, 2651+dy, 31) }
                                    ,{ {33}, {34}, Pose(5300+dx, 2404+dy, 32) }
                                    ,{ {87}, {35}, Pose(4697+dx, 1897+dy, 33) }
                                    ,{ {35}, {36}, Pose(2500+dx, 840+dy, 34) }
                                    ,{ {94}, {37}, Pose(1942+dx, 300+dy, 35) }
                                    ,{ {37}, {38}, Pose(840+dx, 300+dy, 36) }
                                    ,{ {99}, {39}, Pose(300+dx, 840+dy, 37) }
                                    ,{ {39}, {40}, Pose(300+dx, 2943+dy, 38) }
                                    ,{ {109}, {41}, Pose(840+dx, 3500+dy, 39) }
                                    ,{ {41, 124}, {42, 45}, Pose(1942+dx, 3500+dy, 40) }
                                    ,{ {114}, {43}, Pose(2500+dx, 2877+dy, 41) } 
                                // 加密获得的点
                                    ,{ {4}, {49}, Pose(4036+dx, 1074+dy, 42) }
                                    ,{ {8}, {50}, Pose(5435+dx, 2604+dy, 43) }
                                    ,{ {45}, {51}, Pose(4552+dx, 3274+dy, 44) }
                                    ,{ {46}, {52}, Pose(4352+dx, 3274+dy, 45) }
                                    ,{ {10}, {53}, Pose(4152+dx, 3274+dy, 46) }
                                    ,{ {11}, {54}, Pose(3773+dx, 3409+dy, 47) }
                                    ,{ {49}, {55}, Pose(3448+dx, 3650+dy, 48) }
                                    ,{ {12}, {56}, Pose(3216+dx, 3650+dy, 49) }
                                    ,{ {51}, {57}, Pose(2986+dx, 3540+dy, 50) }
                                    ,{ {52}, {58}, Pose(2786+dx, 3540+dy, 51) }
                                    ,{ {53}, {59}, Pose(2586+dx, 3540+dy, 52) }
                                    ,{ {54}, {60}, Pose(2386+dx, 3495+dy, 53) }
                                    ,{ {55}, {61}, Pose(2186+dx, 3495+dy, 54) }
                                    ,{ {13}, {62}, Pose(1986+dx, 3515+dy, 55) }
                                    ,{ {57}, {63}, Pose(1742+dx, 3505+dy, 56) }
                                    ,{ {58}, {64}, Pose(1542+dx, 3495+dy, 57) }
                                    ,{ {59}, {65}, Pose(1342+dx, 3485+dy, 58) }
                                    ,{ {60}, {66}, Pose(1142+dx, 3465+dy, 59) }
                                    ,{ {14}, {67}, Pose(942+dx, 3445+dy, 60) }
                                    ,{ {62}, {68}, Pose(147+dx, 2743+dy, 61) }
                                    ,{ {63}, {69}, Pose(167+dx, 2543+dy, 62) }
                                    ,{ {64}, {70}, Pose(187+dx, 2343+dy, 63) }
                                    ,{ {65}, {71}, Pose(207+dx, 2143+dy, 64) }
                                    ,{ {66}, {72}, Pose(207+dx, 1943+dy, 65) }
                                    ,{ {67}, {73}, Pose(207+dx, 1743+dy, 66) }
                                    ,{ {68}, {74}, Pose(227+dx, 1543+dy, 67) }
                                    ,{ {69}, {75}, Pose(227+dx, 1343+dy, 68) }
                                    ,{ {70}, {76}, Pose(227+dx, 1143+dy, 69) }
                                    ,{ {16}, {77}, Pose(247+dx, 943+dy, 70) }
                                    ,{ {72}, {78}, Pose(1040+dx, 197+dy, 71) }
                                    ,{ {73}, {79}, Pose(1240+dx, 197+dy, 72) }
                                    ,{ {74}, {80}, Pose(1440+dx, 197+dy, 73) }
                                    ,{ {75}, {81}, Pose(1640+dx, 197+dy, 74) }
                                    ,{ {18}, {82}, Pose(1840+dx, 197+dy, 75) }
                                    ,{ {20}, {83}, Pose(2679+dx, 1040+dy, 76) }
                                    ,{ {78}, {84}, Pose(2590+dx, 2604+dy, 77) }
                                    ,{ {26}, {85}, Pose(2590+dx, 2804+dy, 78) }
                                    ,{ {80}, {86}, Pose(3382+dx, 3347+dy, 79) }
                                    ,{ {28}, {87}, Pose(3578+dx, 3310+dy, 80) }
                                    ,{ {29}, {88}, Pose(3771+dx, 3220+dy, 81) }
                                    ,{ {83}, {89}, Pose(4101+dx, 3250+dy, 82) }
                                    ,{ {84}, {90}, Pose(4301+dx, 3250+dy, 83) }
                                    ,{ {85}, {91}, Pose(4501+dx, 3250+dy, 84) }
                                    ,{ {30}, {92}, Pose(4701+dx, 3250+dy, 85) }
                                    ,{ {32}, {93}, Pose(5300+dx, 2451+dy, 86) }
                                    ,{ {88}, {94}, Pose(4497+dx, 1897+dy, 87) }
                                    ,{ {89}, {95}, Pose(4297+dx, 1897+dy, 88) }
                                    ,{ {90}, {96}, Pose(4097+dx, 1897+dy, 89) }
                                    ,{ {91}, {97}, Pose(3897+dx, 1897+dy, 90) }
                                    ,{ {92}, {98}, Pose(3697+dx, 1897+dy, 91) }
                                    ,{ {93}, {99}, Pose(3497+dx, 1897+dy, 92) }
                                    ,{ {24}, {100}, Pose(3297+dx, 1897+dy, 93) }
                                    ,{ {95}, {101}, Pose(1742+dx, 300+dy, 94) }
                                    ,{ {96}, {102}, Pose(1542+dx, 300+dy, 95) }
                                    ,{ {97}, {103}, Pose(1342+dx, 300+dy, 96) }
                                    ,{ {98}, {104}, Pose(1142+dx, 300+dy, 97) }
                                    ,{ {36}, {105}, Pose(942+dx, 300+dy, 98) }
                                    ,{ {100}, {106}, Pose(300+dx, 1040+dy, 99) }
                                    ,{ {101}, {107}, Pose(300+dx, 1240+dy, 100) }
                                    ,{ {102}, {108}, Pose(300+dx, 1440+dy, 101) }
                                    ,{ {103}, {109}, Pose(300+dx, 1640+dy, 102) }
                                    ,{ {104}, {110}, Pose(300+dx, 1840+dy, 103) }
                                    ,{ {105}, {111}, Pose(300+dx, 2040+dy, 104) }
                                    ,{ {106}, {112}, Pose(300+dx, 2240+dy, 105) }
                                    ,{ {107}, {113}, Pose(300+dx, 2440+dy, 106) }
                                    ,{ {108}, {114}, Pose(300+dx, 2640+dy, 107) }
                                    ,{ {38}, {115}, Pose(300+dx, 2840+dy, 108) }
                                    ,{ {110}, {116}, Pose(1040+dx, 3500+dy, 109) }
                                    ,{ {111}, {117}, Pose(1240+dx, 3500+dy, 110) }
                                    ,{ {112}, {118}, Pose(1440+dx, 3500+dy, 111) }
                                    ,{ {113}, {119}, Pose(1640+dx, 3500+dy, 112) }
                                    ,{ {40}, {120}, Pose(1840+dx, 3500+dy, 113) }
                                    ,{ {115}, {121}, Pose(2500+dx, 2677+dy, 114) }
                                    ,{ {116}, {122}, Pose(2500+dx, 2477+dy, 115) }
                                    ,{ {117}, {123}, Pose(2500+dx, 2277+dy, 116) }
                                    ,{ {118}, {124}, Pose(2500+dx, 2077+dy, 117) }
                                    ,{ {119}, {125}, Pose(2500+dx, 1877+dy, 118) }
                                    ,{ {120}, {126}, Pose(2500+dx, 1677+dy, 119) }
                                    ,{ {121}, {127}, Pose(2500+dx, 1477+dy, 120) }
                                    ,{ {122}, {128}, Pose(2500+dx, 1277+dy, 121) }
                                    ,{ {123}, {129}, Pose(2500+dx, 1077+dy, 122) }
                                    ,{ {34}, {130}, Pose(2500+dx, 877+dy, 123) }
                                    ,{ {125}, {131}, Pose(2141+dx, 3446+dy, 124) }
                                    ,{ {126}, {132}, Pose(2340+dx, 3433+dy, 125) }
                                    ,{ {127}, {133}, Pose(2539+dx, 3420+dy, 126) }
                                    ,{ {128}, {134}, Pose(2738+dx, 3407+dy, 127) }
                                    ,{ {129}, {135}, Pose(2937+dx, 3394+dy, 128) }
                                    ,{ {27}, {136}, Pose(3136+dx, 3381+dy, 129) }
                                    ,{ {131}, {137}, Pose(3529+dx, 1581+dy, 130) }
                                    ,{ {132}, {138}, Pose(3729+dx, 1581+dy, 131) }
                                    ,{ {133}, {139}, Pose(3929+dx, 1581+dy, 132) }
                                    ,{ {134}, {140}, Pose(4129+dx, 1581+dy, 133) }
                                    ,{ {135}, {141}, Pose(4329+dx, 1581+dy, 134) }
                                    ,{ {6}, {142}, Pose(4529+dx, 1581+dy, 135) }
                                };
#endif